CN110199234A - A kind of helix gradually opens mowing method, system and device - Google Patents
A kind of helix gradually opens mowing method, system and device Download PDFInfo
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- CN110199234A CN110199234A CN201980000613.6A CN201980000613A CN110199234A CN 110199234 A CN110199234 A CN 110199234A CN 201980000613 A CN201980000613 A CN 201980000613A CN 110199234 A CN110199234 A CN 110199234A
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000002159 abnormal effect Effects 0.000 claims abstract description 43
- 238000003860 storage Methods 0.000 claims description 15
- 238000004590 computer program Methods 0.000 claims description 10
- 230000004888 barrier function Effects 0.000 abstract description 30
- 238000013461 design Methods 0.000 abstract description 18
- 230000009467 reduction Effects 0.000 abstract description 7
- 244000025254 Cannabis sativa Species 0.000 description 10
- 230000033001 locomotion Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000009333 weeding Methods 0.000 description 4
- 238000005520 cutting process Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000002045 lasting effect Effects 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 238000009966 trimming Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000009790 rate-determining step (RDS) Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Abstract
The present invention is suitable for robot control field, provides a kind of helix and gradually opens mowing method, system and device, this method comprises: receiving the abnormal state information for the sensor feedback being arranged in robot；It controls the robot to turn around, and is travelled according to the driving path that helix is gradually opened.The present invention passes through the reception to the abnormal state information, it turns around to operate accurately to determine whether to control the robot execution, the design for operation of turning around is executed by controlling the robot, effectively prevent the failure for mowing task caused by meeting barrier phenomenon occur as robot, the mowing efficiency of robot is ensured, and the design for the driving path traveling gradually opened by control robot according to helix, robot is controlled in a manner of using spiral involute executes mowing task, it effectively prevents since the failure of mowing task or the reduction of mowing efficiency caused by crossing the border or meeting barrier phenomenon occurs in robot, the mowing efficiency of robot is further ensured.
Description
Technical field
The invention belongs to robot control fields more particularly to a kind of helix gradually to open mowing method, system and device.
Background technique
In recent years, increasing considerably with city's green areas and family's garden meadow, the market of grass trimmer just by
No matter in public or family lawn requires gradual change is big, and especially in European and American developed countries, the occupied area on lawn is very big,
A large amount of grass trimmer carries out maintenance trimming to lawn.There are many grass trimmer type currently on the market, can be divided by its mode of operation
Intellectual grass trimmer and non intelligent formula grass trimmer, traditional non intelligent formula grass trimmer are broadly divided into hand propelled and sitting type；Intelligence
Grass trimmer, i.e. grass-removing robot being capable of utonomous workings for a kind of product that robot technology is applied to grass trimmer field.It passes
Unite non intelligent mowing machine operation when it is time-consuming, laborious, while also generating very big noise pollution, and grass-removing robot can be carried out independently
Cutting operation, thus the artificial trimming of substitution well.With market development, it is non intelligent that grass-removing robot will gradually replace tradition
Grass trimmer.
In existing grass-removing robot use process, be by according to pre-set path execute mowing task, when
When occurring the abnormal phenomenon such as meeting barrier or cross the border due to grass-removing robot, it is easy to cause the failure of mowing task, reduces grass trimmer
The mowing efficiency of device people.
Summary of the invention
The embodiment of the present invention provides a kind of helix and gradually opens mowing method, system and device, it is intended to solve existing mowing
In robot use process, when grass-removing robot occurs the asking for mowing task failure caused by abnormal phenomenon such as meeting barrier or cross the border
Topic.
The embodiments of the present invention are implemented as follows, and a kind of helix gradually opens mowing method, and described method includes following steps:
Receive the abnormal state information for the sensor feedback being arranged in robot；
It controls the robot to turn around, and is travelled according to the driving path that helix is gradually opened.
Further, the abnormal state information includes collision information or information of crossing the border.
Further, the step of control robot turns around, specifically includes:
The robot is controlled to rotate in place, and turn round to the driving path direction gradually opened according to helix.
Further, before the step of control robot turns around, the method also includes:
If the abnormal state information is the collision information, controls the robot and retreat pre-determined distance.
The another object of the embodiment of the present invention is to provide a kind of helix and gradually opens mowing system, the system comprises:
Information receiving module, for receiving the abnormal state information for the sensor feedback being arranged in the robot；
Course changing control module turns around for controlling the robot, and travels according to the driving path that helix is gradually opened.
Further, the abnormal state information includes collision information or information of crossing the border.
Further, the course changing control module is also used to:
The robot is controlled to rotate in place, and turn round to the driving path direction gradually opened according to helix.
Further, the system also includes:
Control module is retreated, for when the abnormal state information is the collision information, then controlling the robot
Retreat pre-determined distance.
The another object of the embodiment of the present invention is to provide a kind of helix and gradually opens mowing-apparatus, including storage equipment and
Processor, the storage equipment run the computer program so that the spiral shell for storing computer program, the processor
Spin line, which gradually opens mowing-apparatus and executes above-mentioned helix, gradually opens mowing method.
The another object of the embodiment of the present invention is to provide a kind of storage medium, which is characterized in that it is stored with above-mentioned
Helix gradually opens computer program used in mowing-apparatus, which realizes above-mentioned spiral shell when being executed by processor
Spin line gradually opens the step of mowing method.
The embodiment of the present invention, by the reception to the abnormal state information, accurately to determine whether to control the machine
People executes and turns around to operate, and the design for operation of turning around is executed by controlling the robot, is effectively prevented since robot goes out
The failure for now meeting mowing task caused by barrier phenomenon has ensured the mowing efficiency of robot, and by control robot according to spiral shell
The design for the driving path traveling that spin line is gradually opened, robot is controlled in a manner of using spiral involute and executes mowing task, is had
Effect is prevented since the failure of mowing task or the reduction of mowing efficiency caused by hindering phenomenon occurs crossing the border or meets in robot, into
One step has ensured the mowing efficiency of robot.
Detailed description of the invention
Fig. 1 is the flow chart that the helix that first embodiment of the invention provides gradually opens mowing method；
Fig. 2 is the schematic diagram that a kind of helix that first embodiment of the invention provides gradually opens mowing path；
Fig. 3 is the schematic diagram that another helix that first embodiment of the invention provides gradually opens mowing path；
Fig. 4 is the flow chart that the helix that second embodiment of the invention provides gradually opens mowing method；
Fig. 5 is the flow chart that the helix that third embodiment of the invention provides gradually opens mowing method；
Fig. 6 is the flow chart that the helix that fourth embodiment of the invention provides gradually opens mowing method；
Fig. 7 is the flow chart that the helix that fifth embodiment of the invention provides gradually opens mowing method；
Fig. 8 is the structural schematic diagram that the helix that sixth embodiment of the invention provides gradually opens mowing system；
Fig. 9 is the structural schematic diagram that the helix that seventh embodiment of the invention provides gradually opens mowing-apparatus.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In existing robot use process, when robot occurs the abnormal phenomenon such as meeting barrier or cross the border, it is easy to cause and cuts
The failure of careless task reduces the mowing efficiency of robot, and therefore, the present invention is turned around by controlling the robot, and according to
The design for the driving path traveling that helix is gradually opened is effectively prevented since robot occurs caused by crossing the border or meeting barrier phenomenon
The failure of mowing task or the reduction of mowing efficiency, have ensured the mowing efficiency of robot.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Embodiment one
Fig. 1, Fig. 2 and Fig. 3 are please referred to, is that the helix that first embodiment of the invention provides gradually opens the process of mowing method
Figure, comprising steps of
Step S10 receives the abnormal state information for the sensor feedback being arranged in robot；
Wherein, the abnormal state information includes collision information or information of crossing the border, when the exception information is described touches
When hitting information, then determine that robot is currently at and meet barrier state, when the exception information is to cross the border information, determines machine at this time
People is in out-of-range conditions, i.e. robot travels out mowing mission area range；
Specifically, the out-of-range conditions can carry out out-of-range conditions to robot by way of GPS positioning in the step
Determine, when robot is in out-of-range conditions, then determines that robot currently travels out the regional scope of mowing task；
Step S20 controls the robot and turns around, and travels according to the driving path that helix is gradually opened；
In the present embodiment, by the reception to the abnormal state information, accurately to determine whether to control the robot
Execution turns around to operate, and the design for operation of turning around is executed by controlling the robot, effectively prevents since robot occurs
The failure for meeting mowing task caused by barrier phenomenon has ensured the mowing efficiency of robot, and by control robot according to spiral
The design for the driving path traveling that line is gradually opened, robot is controlled in a manner of using spiral involute and executes mowing task, effectively
Prevent since the failure of mowing task or the reduction of mowing efficiency caused by barrier phenomenon occurs crossing the border or meet in robot, into one
Step has ensured the mowing efficiency of robot.
Embodiment two
Referring to Fig. 4, being that the helix that second embodiment of the invention provides gradually opens the flow chart of mowing method, including step
It is rapid:
Step S11 receives the abnormal state information for the sensor feedback being arranged in robot；
Wherein, the abnormal state information includes collision information or information of crossing the border, when the exception information is described touches
When hitting information, then determine that robot is currently at and meet barrier state, when the exception information is to cross the border information, determines machine at this time
People is in out-of-range conditions, i.e. robot travels out mowing mission area range；
Specifically, the out-of-range conditions can carry out out-of-range conditions to robot by way of GPS positioning in the step
Determine, when robot is in out-of-range conditions, then determines that robot currently travels out the regional scope of mowing task；
Step S21, if the abnormal state information is the collision information, control the robot retreat it is default away from
From
Wherein, it is stored with the constant collision time in the collision information, is greater than time threshold when the constant collision time
When, then determine the collision information for effective information；
It should be understood that in the present embodiment, impact strength value being also stored in the collision information, is determined when simultaneously
When the impact strength value is greater than intensity threshold, just determine the collision information for effective information；
Step S31 controls the robot and rotates in place if the abnormal state information crosses the border for described in when information, and
Turn round to the driving path direction gradually opened according to helix；
Wherein, the design for the driving path traveling gradually opened by control robot according to helix, gradually to be opened using spiral
The mode of line controls robot and executes subsequent mowing task；
Preferably, gradually aperture is all larger than the spiral of a preceding driving path gradually to the spiral for the driving path that each spin line is gradually opened
Aperture so that the driving path of robot sequentially increases after thus optimizing, and then effectively prevents causing due to same barrier
Lasting chance hinder phenomenon, and then ensured the mowing efficiency of robot, it is preferred that in other embodiments, each driving path
Spiral gradually aperture can be equal；
In the present embodiment, by the reception to the abnormal state information, accurately to determine whether to control the robot
Execution turns around to operate, and the design for operation of turning around is executed by controlling the robot, effectively prevents since robot occurs
The failure for meeting mowing task caused by barrier phenomenon has ensured the mowing efficiency of robot, and by control robot according to spiral
The design for the driving path traveling that line is gradually opened, robot is controlled in a manner of using spiral involute and executes mowing task, effectively
Prevent since the failure of mowing task or the reduction of mowing efficiency caused by barrier phenomenon occurs crossing the border or meet in robot, into one
Step has ensured the mowing efficiency of robot.
Embodiment three
Referring to Fig. 5, being that the helix that third embodiment of the invention provides gradually opens the flow chart of mowing method, including step
It is rapid:
Step S13 receives the abnormal state information for the sensor feedback being arranged in robot；
Wherein, the abnormal state information includes current of electric, electric moter voltage, motor speed, motor torque, motor electricity
Stream, electric moter voltage and motor speed are output valve, specifically, in the step, in such a way that sensor be set with correspondence into
The storage of the row abnormal state information, and the transmission of the abnormal state information is completed by using the mode of wireless signal,
To improve the efficiency of transmission of data；
Step S23 judges whether the robot is in state to be optimized according to the abnormal state information；
Wherein, the state to be optimized include meet barrier it is to be optimized and cross the border it is to be optimized, specifically, being in when the robot
Suffered resistance will increase when meeting barrier state, will lead to electric current in mowing motor and increases, therefore, in the step, judges the machine
Whether people is in Rule of judgment used by the state to be optimized can be with are as follows: judges size of current, judges voltage swing, judgement
Revolving speed size judges that the mode of watt level carries out, it is preferred that in the present embodiment, which can be according to user demand
Independently it is configured；
In the step, the judgement to be optimized that can carry out out-of-range conditions to robot by way of GPS positioning of crossing the border,
When robot is in out-of-range conditions, then determine that robot currently travels out the regional scope of mowing task；
When step S23, which determines the robot, is in the state to be optimized, step S33 is executed；
Step S33 obtains the mowing strategy of the robot, optimizes to the mowing strategy, and according to optimization after
The mowing policy control described in robot execute mow operation；
Wherein, the mowing strategy includes mowing path and mowing motion mode, and the mowing motion mode is before continuing
Into movement, reciprocal forward travel, gradual change forward travel or turn around to move, this be continuously advanced movement for preset driving direction by
Weeding campaign is carried out according to constant speed, which is during robot moves ahead, according to the first preset time
It is spaced in control robot in certain time and executes setback, such as when detecting that robot moves forward the second preset time
Or when the first pre-determined distance, control robot travels the second preset time or the second pre-determined distance backward, and according to preset time
The reciprocal control robot in interval travels backward, is moved back and forth by controlling robot, so as to effectively control the machine
People, which contacts, meets barrier state, and mowing motor is prevented to be in the phenomenon that stops working caused under big resistance environment for a long time；
It should be understood that the driving direction in the reciprocal forward travel backward when driving can be according to user demand certainly
Master is configured；Preferably, the mowing path is straight line path, spiral path or curved path；
In the present embodiment, by the design optimized to the mowing path, when effectivelying prevent the robot head
Between in high-drag meet barrier state under caused by stop working, the mowing efficiency of the robot has been ensured, by described
The design that mowing motion mode optimizes, can make robot using the edge for mission area of mowing as mowing track from outside to
It is interior to execute cutting, effectively ensure the mowing efficiency of robot.
Example IV
Referring to Fig. 6, being that the helix that fourth embodiment of the invention provides gradually opens the flow chart of mowing method, including step
It is rapid:
Step S14, receives the abnormal state information for the sensor feedback being arranged in robot, and obtains the abnormal shape
The motor current value stored in state information；
Wherein, with the corresponding storage for carrying out the abnormal state information by way of sensor is arranged, and by using
The mode of wireless signal completes the transmission of the abnormal state information, to improve the efficiency of transmission of data, it is preferred that the exception
Status information further includes current of electric, electric moter voltage, motor speed, motor torque, and the current of electric, electric moter voltage and motor turn
Speed is output valve；
Step S24, judges whether the motor current value is greater than current threshold；
Wherein, when the robot, which is in, meets barrier state, suffered resistance be will increase, and be will lead to electric current in mowing motor and is increased
Greatly, therefore, in the step, by judging whether the motor current value is greater than the current threshold, so as to can effectively determine institute
State whether robot is in chance barrier state；
Preferably, in the step, it can also use and judge voltage swing, judge revolving speed size or judge the side of watt level
Formula carries out the judgement that barrier state is met by the robot, it is possible to understand that, in the present embodiment, which can be according to user's need
It asks and is independently configured；
Specifically, the motor current value and institute can be carried out by the way of comparator or comparison circuit in the step
The size judgement between current threshold is stated, the current threshold is arranged in the comparator or the comparison circuit, when described
When comparator or the comparison circuit determine the motor current value greater than the current threshold, control instruction, the control are issued
System instruction is used for the rate-determining steps of triggering following；
When step S24 determines the motor current value greater than the current threshold, determine that the robot is in institute
Treatment barrier state is stated, step S34 is executed；
Step S34 controls the robot and rotates in place, and turn round to the driving path gradually opened according to helix
Direction；
In the present embodiment, by the design optimized to the mowing path, when effectivelying prevent the robot head
Between in high-drag meet barrier state under caused by stop working, the mowing efficiency of the robot has been ensured, by described
The design that mowing motion mode optimizes, can make robot using the edge for mission area of mowing as mowing track from outside to
It is interior to execute cutting, effectively ensure the mowing efficiency of robot.
Embodiment five
Referring to Fig. 7, being that the helix that fifth embodiment of the invention provides gradually opens the flow chart of mowing method, including step
It is rapid:
Step S15 receives the abnormal state information for the sensor feedback being arranged in robot；
Whether step S25 judges robot currently in out-of-range conditions according to the abnormal state information；
When step S25, which determines robot, is in out-of-range conditions, step S35 is executed；
Step S35 controls the robot and rotates in place, and turn round to the driving path gradually opened according to helix
Direction；
Step S45, obtain in mowing task to weeding image, calculate the centre coordinate to weeding image, and with
The centre coordinate is that origin draws helix, to obtain path optimizing；
Wherein, in the step, described the step of drawing helix as origin using the centre coordinate, includes:
The zone radius to weeding image is calculated according to the centre coordinate；
The zone radius is matched with the spiral path table being locally pre-stored, to obtain multiple target spiral points；
All target spiral points are smoothly connected, successively to obtain the path optimizing；
Step S55 controls the corresponding progress route of the robot according to the path optimizing；
Wherein, the spiral of each path optimizing spiral that gradually aperture is all larger than the preceding primary path optimizing is gradually opened
Degree so that the driving path of robot sequentially increases after thus optimizing, and then is effectively prevented as caused by same barrier
It is lasting to meet barrier phenomenon, and then ensured the mowing efficiency of robot, it is preferred that in other embodiments, each optimization road
Gradually aperture can be equal for the spiral of diameter；
In the present embodiment, by the reception to the abnormal state information, accurately to determine whether to control the robot
Execution turns around to operate, and the design for operation of turning around is executed by controlling the robot, effectively prevents since robot occurs
The failure for meeting mowing task caused by barrier phenomenon has ensured the mowing efficiency of robot, and by control robot according to spiral
The design for the driving path traveling that line is gradually opened, robot is controlled in a manner of using spiral involute and executes mowing task, effectively
Prevent since the failure of mowing task or the reduction of mowing efficiency caused by barrier phenomenon occurs crossing the border or meet in robot, into one
Step has ensured the mowing efficiency of robot.
Embodiment six
Referring to Fig. 8, be that the helix that sixth embodiment of the invention provides gradually opens the structural schematic diagram of mowing system 100,
Include:
Information receiving module 10, for receiving the abnormal state information for the sensor feedback being arranged in the robot,
Wherein, the abnormal state information includes collision information or information of crossing the border, when the exception information is the collision information,
Then determine that robot is currently at and meet barrier state, when the exception information is to cross the border information, determines that robot is in more at this time
Boundary's state, i.e. robot travel out mowing mission area range；
Specifically, the out-of-range conditions can carry out out-of-range conditions to robot by way of GPS positioning in the module
Determine, when robot is in out-of-range conditions, then determines that robot currently travels out the regional scope of mowing task.
It should be understood that the constant collision time is stored in the collision information in the present embodiment, when the constant collision
When time is greater than time threshold, then determine that the collision information for effective information, further, also stores in the collision information
There is impact strength value, when determining the impact strength value greater than intensity threshold simultaneously, just determines that the collision information is effective
Information.
Course changing control module 12 turns around for controlling the robot, and travels according to the driving path that helix is gradually opened.
Further, the course changing control module 12 is also used to: control the robot and rotate in place, and turn round to described according to spiral shell
The driving path direction that spin line is gradually opened.
Further, the system also includes:
Control module 11 is retreated, for when the abnormal state information is the collision information, then controlling the machine
People retreats pre-determined distance.
In the present embodiment, by the reception to the abnormal state information, accurately to determine whether to control the robot
Execution turns around to operate, and the design for operation of turning around is executed by controlling the robot, effectively prevents since robot occurs
The failure for meeting mowing task caused by barrier phenomenon has ensured the mowing efficiency of robot, and by control robot according to spiral
The design for the driving path traveling that line is gradually opened, robot is controlled in a manner of using spiral involute and executes mowing task, effectively
Prevent since the failure of mowing task or the reduction of mowing efficiency caused by barrier phenomenon occurs crossing the border or meet in robot, into one
Step has ensured the mowing efficiency of robot.
Embodiment seven
Referring to Fig. 9, being that the helix that seventh embodiment of the invention provides gradually opens mowing-apparatus 101, including storage equipment
And processor, the helix gradually opens mowing-apparatus 101 and grass-removing robot is electrically connected, and the storage equipment is for storing
Computer program, the processor run the computer program so that the helix gradually open mowing-apparatus 101 execute it is above-mentioned
Helix gradually open mowing method.
Embodiment eight
The present embodiment additionally provides a kind of storage medium, is stored thereon with above-mentioned helix and gradually opens used in mowing-apparatus
Computer program, when being executed, described method includes following steps for the program:
Receive the abnormal state information for the sensor feedback being arranged in robot；
It controls the robot to turn around, and is travelled according to the driving path that helix is gradually opened.The storage medium, such as:
ROM/RAM, magnetic disk, CD etc..
It is apparent to those skilled in the art that for convenience and simplicity of description, only with above-mentioned each function
The division progress of unit, module can according to need and for example, in practical application by above-mentioned function distribution by different function
Energy unit or module are completed, i.e., the internal structure of storage device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit,
It can be each unit to physically exist alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.
It will be understood by those skilled in the art that composed structure shown in Fig. 8 is not constituted to helix of the invention gradually
The restriction for opening mowing system may include perhaps combining certain components or different portions than illustrating more or fewer components
Part arrangement, and the helix in Fig. 1-5 gradually opens mowing method and also uses more or fewer components shown in fig. 8 or group
Certain components or different component layouts are closed to realize.The so-called unit of the present invention, module etc. refer to that one kind can be described
Helix gradually opens the series of computation machine that the performed simultaneously function of the processor (not shown) in mowing system enough completes specific function
Program can be stored in the helix and gradually open in the storage equipment (not shown) of mowing system.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of helix gradually opens mowing method, which is characterized in that described method includes following steps:
Receive the abnormal state information for the sensor feedback being arranged in robot；
It controls the robot to turn around, and is travelled according to the driving path that helix is gradually opened.
2. helix as described in claim 1 gradually opens mowing method, which is characterized in that the abnormal state information includes collision
Information or information of crossing the border.
3. helix as described in claim 1 gradually opens mowing method, which is characterized in that the control robot turned around
Step specifically includes:
The robot is controlled to rotate in place, and turn round to the driving path direction gradually opened according to helix.
4. helix as claimed in claim 2 gradually opens mowing method, which is characterized in that the control robot turned around
Before step, the method also includes:
If the abnormal state information is the collision information, controls the robot and retreat pre-determined distance.
5. a kind of helix gradually opens mowing system, which is characterized in that the system comprises:
Information receiving module, for receiving the abnormal state information for the sensor feedback being arranged in the robot；
Course changing control module turns around for controlling the robot, and travels according to the driving path that helix is gradually opened.
6. helix as claimed in claim 5 gradually opens mowing system, which is characterized in that the abnormal state information includes collision
Information or information of crossing the border.
7. helix as claimed in claim 5 gradually opens mowing system, which is characterized in that the course changing control module is also used to:
The robot is controlled to rotate in place, and turn round to the driving path direction gradually opened according to helix.
8. helix as claimed in claim 6 gradually opens mowing system, which is characterized in that the system also includes:
Control module is retreated, for when the abnormal state information is the collision information, then controlling the robot and retreating
Pre-determined distance.
9. a kind of helix gradually opens mowing-apparatus, which is characterized in that including storage equipment and processor, the storage equipment is used
In storage computer program, the processor runs the computer program so that the helix gradually opens mowing-apparatus and executes root
Mowing method is gradually opened according to the described in any item helixes of Claims 1-4.
10. a kind of storage medium, which is characterized in that it is stored with helix as claimed in claim 9 and gradually opens institute in mowing-apparatus
The computer program used realizes Claims 1-4 described in any item helixes when the computer program is executed by processor
The step of gradually opening mowing method.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/081213 WO2020199149A1 (en) | 2019-04-03 | 2019-04-03 | Evolvent spiral lawnmowing method, system, and device |
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| CN110199234A true CN110199234A (en) | 2019-09-03 |
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| CN201980000613.6A Pending CN110199234A (en) | 2019-04-03 | 2019-04-03 | A kind of helix gradually opens mowing method, system and device |
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| WO (1) | WO2020199149A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112405524A (en) * | 2020-10-20 | 2021-02-26 | 深圳拓邦股份有限公司 | Robot collision detection method and device and robot |
| CN112932367A (en) * | 2021-03-05 | 2021-06-11 | 深圳拓邦股份有限公司 | Fixed-point sweeping method of cleaning equipment and cleaning equipment |
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